Better interop

Author: JafarAbdi

.pre-commit-config.yaml

@@ -0,0 +1,42 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-builtin-literals
+      - id: check-byte-order-marker
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-vcs-permalinks
+      - id: check-xml
+      - id: check-yaml
+        args: ['--allow-multiple-documents']
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: forbid-new-submodules
+      - id: mixed-line-ending
+      - id: name-tests-test
+      - id: pretty-format-json
+        args: ['--autofix']
+      - id: requirements-txt-fixer
+      - id: sort-simple-yaml
+      - id: trailing-whitespace
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.6.9
+    hooks:
+      - id: ruff
+        args: ['--output-format=full', '--fix', '--config', 'pyproject.toml']
+      - id: ruff-format
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v15.0.7
+    hooks:
+      - id: clang-format

CMakeLists.txt

@@ -14,25 +14,47 @@ find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
 find_package(fmt REQUIRED)
 find_package(py_binding_tools REQUIRED)
+find_package(rclcpp REQUIRED)
 
-ament_python_install_package(behaviortree_py PACKAGE_DIR behaviortree_py)
-
-add_library(${PROJECT_NAME}_headers INTERFACE)
+# ##############################################################################
+# ############################# Main C++ library ###############################
+# ##############################################################################
 
-target_link_libraries(${PROJECT_NAME}_headers
-                      INTERFACE behaviortree_cpp::behaviortree_cpp fmt::fmt)
+add_library(${PROJECT_NAME}_lib SHARED src/behaviortree_py.cpp)
+target_link_libraries(
+  ${PROJECT_NAME}_lib PUBLIC behaviortree_cpp::behaviortree_cpp fmt::fmt
+                             rclcpp::rclcpp)
+ament_target_dependencies(${PROJECT_NAME}_lib pybind11)
 target_include_directories(
-  ${PROJECT_NAME}_headers
-  INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-            "$<INSTALL_INTERFACE:include>")
+  ${PROJECT_NAME}_lib
+  PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+         "$<INSTALL_INTERFACE:include>")
+install(DIRECTORY include/ DESTINATION include/)
+install(
+  TARGETS ${PROJECT_NAME}_lib
+  EXPORT ${PROJECT_NAME}Targets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib
+  INCLUDES
+  DESTINATION include)
+
+# ##############################################################################
+# ############################# Python bindings ################################
+# ##############################################################################
 
-pybind11_add_module(behaviortree_py src/behaviortree_py.cpp)
+ament_python_install_package(behaviortree_py PACKAGE_DIR behaviortree_py)
+
+pybind11_add_module(behaviortree_py src/bindings/behaviortree_py.cpp)
 target_compile_features(behaviortree_py PRIVATE cxx_std_20)
-target_link_libraries(
-  behaviortree_py
-  PRIVATE behaviortree_cpp::behaviortree_cpp fmt::fmt ${PROJECT_NAME}_headers
-          py_binding_tools::py_binding_tools)
+target_link_libraries(behaviortree_py PRIVATE ${PROJECT_NAME}_lib)
 
+install(TARGETS behaviortree_py
+        LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/behaviortree_py)
+
+# ##############################################################################
+# ################## Generate and install Python stubs #########################
+# ##############################################################################
 add_custom_command(
   TARGET behaviortree_py
   POST_BUILD
@@ -41,23 +63,13 @@ add_custom_command(
   WORKING_DIRECTORY $<TARGET_FILE_DIR:behaviortree_py>
   USES_TERMINAL)
 
-install(DIRECTORY include/ DESTINATION include/)
-install(TARGETS behaviortree_py
-        LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/behaviortree_py)
-
-install(
-  TARGETS ${PROJECT_NAME}_headers
-  EXPORT ${PROJECT_NAME}Targets
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib
-  INCLUDES
-  DESTINATION include)
 install(
   FILES
     $<TARGET_FILE_DIR:behaviortree_py>/$<TARGET_FILE_BASE_NAME:behaviortree_py>.pyi
   COMPONENT python
   DESTINATION ${PYTHON_INSTALL_DIR}/$<TARGET_FILE_BASE_NAME:behaviortree_py>)
 
-ament_export_targets(${PROJECT_NAME}Targets)
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_export_dependencies(behaviortree_cpp pybind11_vendor fmt py_binding_tools
+                          rclcpp)
 ament_package()

README.md

@@ -1,3 +1,46 @@
-#
+# BehaviorTree.PY
 
-sudo apt install mypy
+Minimal python binding to https://github.com/BehaviorTree/BehaviorTree.CPP
+
+## Usage
+
+By default, the library registers the built-in types. To register custom types, you need to create a shared library with the type converters and load it in python.
+
+```cmake
+add_library(bt_custom_types SHARED src/custom_types.cpp)
+target_compile_features(bt_custom_types PRIVATE cxx_std_20)
+target_compile_definitions(bt_custom_types PRIVATE BT_PLUGIN_EXPORT)
+target_link_libraries(
+  bt_custom_types PRIVATE behaviortree_py::behaviortree_py_lib
+                          py_binding_tools::py_binding_tools)
+install(
+  TARGETS bt_custom_types
+  LIBRARY DESTINATION share/${PROJECT_NAME}/bt_type_converters
+  ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_type_converters
+  RUNTIME DESTINATION share/${PROJECT_NAME}/bt_type_converters)
+```
+
+```cpp
+#include <behaviortree_py/behaviortree_py.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
+// For the typecasters
+#include <py_binding_tools/ros_msg_typecasters.h>
+
+BT_REGISTER_TYPE_CONVERTER(geometry_msgs::msg::PoseStamped,
+                           geometry_msgs::msg::Pose);
+```
+
+```python
+import behaviortree_py as bt
+...
+bt.load_type_converters(
+    get_package_share_directory("my_package")
+    + "/bt_type_converters/libbt_custom_types.so"
+)
+...
+```
+
+## Acknowledgements
+
+- A few functions were based on https://github.com/BehaviorTree/BehaviorTree.CPP/pull/634
+- The TypeConverter is based on [moveit_task_constructor](https://github.com/moveit/moveit_task_constructor/)'s pybind11 implementation.

behaviortree_py/__init__.py

@@ -1 +1,3 @@
-from behaviortree_py.behaviortree_py import *
+"""Init."""
+
+from behaviortree_py.behaviortree_py import *  # noqa: F403

examples/bt_example.py

@@ -1,6 +1,7 @@
-import behaviortree_py
 import time
 
+import behaviortree_py
+
 xml_text = """
 <root BTCPP_format="4">
 
@@ -31,7 +32,6 @@
 
 
 class CrossDoor:
-
     def __init__(self):
         self.door_open = False
         self.door_locked = True
@@ -45,7 +45,8 @@ def register_nodes(self, factory: behaviortree_py.BehaviorTreeFactory):
         factory.register_simple_action("SmashDoor", self.smash_door)
 
     def is_door_closed(
-        self, tree_node: behaviortree_py.TreeNode
+        self,
+        tree_node: behaviortree_py.TreeNode,
     ) -> behaviortree_py.NodeStatus:
         time.sleep(0.2)
         return (
@@ -55,7 +56,8 @@ def is_door_closed(
         )
 
     def pass_through_door(
-        self, tree_node: behaviortree_py.TreeNode
+        self,
+        tree_node: behaviortree_py.TreeNode,
     ) -> behaviortree_py.NodeStatus:
         time.sleep(0.5)
         return (
@@ -65,7 +67,8 @@ def pass_through_door(
         )
 
     def open_door(
-        self, tree_node: behaviortree_py.TreeNode
+        self,
+        tree_node: behaviortree_py.TreeNode,
     ) -> behaviortree_py.NodeStatus:
         time.sleep(0.5)
         if self.door_locked:
@@ -74,7 +77,8 @@ def open_door(
         return behaviortree_py.NodeStatus.SUCCESS
 
     def pick_lock(
-        self, tree_node: behaviortree_py.TreeNode
+        self,
+        tree_node: behaviortree_py.TreeNode,
     ) -> behaviortree_py.NodeStatus:
         time.sleep(0.5)
         self.pick_attempts += 1

examples/scripting.py

@@ -1,7 +1,4 @@
 import behaviortree_py as bt
-from geometry_msgs.msg import Point
-from std_msgs.msg import String
-from moveit_msgs.msg import OrientedBoundingBox
 
 xml_text = """
 <root BTCPP_format="4">
@@ -11,7 +8,6 @@
            <Script code=" A:=THE_ANSWER; B:=3.14; color:=RED " />
            <Precondition if="A>B && color != BLUE" else="FAILURE">
                <Sequence>
-                 <Vision />
                  <SetValue value="{double_value}"/>
                  <SaySomething message="{A}"/>
                  <SaySomething message="{B}"/>
@@ -45,21 +41,17 @@ def set_value(tree_node: bt.TreeNode) -> bt.NodeStatus:
     return bt.NodeStatus.SUCCESS
 
 
-def vision(tree_node: bt.TreeNode) -> bt.NodeStatus:
-    if not (result := tree_node.set_output("bbox", OrientedBoundingBox())):
-        print(f"Failed to set value '{result.error()}'")
-        return bt.NodeStatus.FAILURE
-    return bt.NodeStatus.SUCCESS
-
-
 factory = bt.BehaviorTreeFactory()
-factory.register_simple_action("Vision", vision, dict([bt.output_port("bbox")]))
 factory.register_simple_action("SetValue", set_value, dict([bt.output_port("value")]))
 factory.register_simple_action(
-    "SaySomething", say_something, dict([bt.input_port("message")])
+    "SaySomething",
+    say_something,
+    dict([bt.input_port("message")]),
 )
 factory.register_simple_action(
-    "SaySomethingDouble", say_something_double, dict([bt.input_port("message")])
+    "SaySomethingDouble",
+    say_something_double,
+    dict([bt.input_port("message")]),
 )
 factory.register_scripting_enum("RED", 1)
 factory.register_scripting_enum("BLUE", 2)